YASKAWA Error Messages

The following errors may occur while running the Standard Interface program on the robot.

MM:Robot_Internal_Error

Error occurred while the MotoPlus application attempts to call the MotoPlus API.

Example

When the MotoPlus application attempts to obtain the current pose of the robot, ret = -1.

ret = mpGetCartPos(&cgsData, &cartPosData);
if (ret != 0)
return INTERNAL_ERROR;

Troubleshooting

Please refer to Programmer’s Manual for New Language Environment MotoPlus and check the application.

MM:Robot_Socket_Closed

Error occurred when the MotoPlus application called the mpSocket and mpConnect functions, and the robot is disconnected from Mech-Center.

Troubleshooting

  • Check if the hardware are properly connected.

  • Check if the Standard Interface is started in Mech-Center.

  • Check the IP addresses of the robot and the IPC, and if the port number is configured correctly.

  • Check if the firewall is turned off on the IPC.

  • Contact Mech-Mind Technical Support for further assistance.

MM:Robot_Argument_Error

When calling a Mech-Mind Standard Interface job, arguments provided are not sufficient.

Example

When calling MM_START_VIS, 3 arguments should be provided. If only 1 argument is provided, this error is reported.

  • Correct:

    CALL JOB:MM_START_VIS ("1;1;2")

  • Incorrect:

    CALL JOB:MM_START_VIS ("1")

Troubleshooting

Please refer to YASKAWA Standard Interface Commands and input the correct arguments accordingly.

MM:Robot_CMD_Error

  • The command code sent by the job does not exist;

  • The command code received by the MotoPlus Application does not match the one sent.

Troubleshooting

  • Please refer to the Standard Interface Development Manual and make sure the command code sent by the job is correct.

  • The sequence of command sending and receiving is problematic. Please contact Mech-Mind Technical Support for further assistance.

MM:IPC_Return_Error

Returned status code is an error code. Please check Mech-Center’s log.

Troubleshooting